//
// Created by ZhaoXiaoFei on 2022/8/5.
//

#ifndef POSE_GRAPH_PARAMETERS_HPP
#define POSE_GRAPH_PARAMETERS_HPP
#include <ros/ros.h>
#include <Eigen/Dense>
#include <camodocal/camera_models/Camera.h>

extern camodocal::CameraPtr m_camera;
extern Eigen::Vector3d tic;
extern Eigen::Matrix3d qic;
extern ros::Publisher pub_match_img;
extern ros::Publisher pub_match_points;
extern int VISUALIZATION_SHIFT_X;
extern int VISUALIZATION_SHIFT_Y;
extern std::string BRIEF_PATTERN_FILE;
extern std::string POSE_GRAPH_SAVE_PATH;
extern int ROW;
extern int COL;
extern std::string VINS_RESULT_PATH;
extern int DEBUG_IMAGE;
extern int FAST_RELOCALIZATION;

#endif //POSE_GRAPH_PARAMETERS_HPP
